#include "XYZJoint.h"
#include "Mat6x6.h"
#include "PrescribedMotion.h"
#include "RigidBodyNode.h"
#include "EOMData.h"
#include "ABAData.h"

using namespace RSIM;
using namespace std;

///////////////////////////////////////////////////////

int XYZ::getJointDOF()const{return 3;}

///////////////////////////////////////////////////////

void XYZ::calc_H_x_UDot(const State& state,double *h_x_udot) const{
        const double *UDot = state.getUDotForNode(this->NodeIndex_);
        h_x_udot[3] = UDot[0];
        h_x_udot[4] = UDot[1];
        h_x_udot[5] = UDot[2];
}

///////////////////////////////////////////////////////

void XYZ::setDefaultQ(double *q)const{
        q[0] = 0.0;	q[1] = 0.0;
        q[2] = 0.0;
}

///////////////////////////////////////////////////////

void XYZ::setDefaultU(double *u)const{
        u[0] = 0.0;	u[1] = 0.0;
        u[2] = 0.0;
}

///////////////////////////////////////////////////////

void XYZ::calcQDot(State& state)const{
        state.wgetQDotForNode(this->NodeIndex_)[0] = state.wgetUForNode(this->NodeIndex_)[0];
        state.wgetQDotForNode(this->NodeIndex_)[1] = state.wgetUForNode(this->NodeIndex_)[1];
        state.wgetQDotForNode(this->NodeIndex_)[2] = state.wgetUForNode(this->NodeIndex_)[2];
}

///////////////////////////////////////////////////////

void XYZ::updRelVelocity(const State& state,Vect3& w, Vect3& v)const{
        v(0) = state.getUForNode(this->NodeIndex_)[0];
        v(1) = state.getUForNode(this->NodeIndex_)[1];
        v(2) = state.getUForNode(this->NodeIndex_)[2];
}

///////////////////////////////////////////////////////

XYZ::XYZ(const int& NodeIndex):Joint(XYZJoint){
        this->NodeIndex_ = NodeIndex;
}

///////////////////////////////////////////////////////

XYZ* XYZ::New(const int& NodeIndex){
        return new XYZ(NodeIndex);
}

///////////////////////////////////////////////////////

void XYZ::printJointType() const{
        cout<<"Joint Type=XYZ\n";
}

///////////////////////////////////////////////////////

void XYZ::updJointTransform(	const double *q,
                                const RigidBodyNode *Parent,
                                const int& pChildID,
                                double *betak){
        double tmp[] = {q[0],q[1],q[2]};
        this->T_MF_.wgetP().copy(tmp);
        
        this->updBetaK(q,Parent,pChildID,betak);
}

///////////////////////////////////////////////////////

void XYZ::updBetaK(	const double *q,
                        const RigidBodyNode *Parent,
                        const int& pChildID,
                        double *betak)const{
        if(Parent){
                const double *T_FM_P_Ptr = Parent->data_->getBodyTransformFM()[pChildID].P().Ptr();
                const double *T_FM_R_Ptr = Parent->data_->getBodyTransformFM()[pChildID].R().Ptr();

                FastOps::mult_mat33_vec3(T_FM_R_Ptr,q,betak);
                
                betak[0] += T_FM_P_Ptr[0];
                betak[1] += T_FM_P_Ptr[1];
                betak[2] += T_FM_P_Ptr[2];						
        }	
}

///////////////////////////////////////////////////////

void XYZ::updVelocity(	const State& state, 
                        const RigidBodyNode *Parent,
                        const Rotation& prF_C_F, 
                        const double *betak,
                        Vect3& w,
                        Vect3& v) const {
                                        
        const Vect3& pr_w = Parent->data_->getAngularVelocity();
        const Vect3& pr_v = Parent->data_->getLinearVelocity();
        
        // 1. F_C_prF*pr_w is the absolute angular velocity
        // of the parent expressed in the joint's F frame
        double *wptr = w.wPtr();
        FastOps::transpose_mult_mat33_vec3(prF_C_F.Ptr(),pr_w.Ptr(),wptr);
        
        double v_tmp[3];
        
        // omega x r
        FastOps::cross(pr_w.Ptr(),betak,v_tmp);
        
        // v + omega x r
        v_tmp[0] += pr_v(0);
        v_tmp[1] += pr_v(1);
        v_tmp[2] += pr_v(2);
        
        double *v_wptr = v.wPtr();
        
        // convert v + omega x r to F basis of this body
        FastOps::transpose_mult_mat33_vec3(prF_C_F.Ptr(), v_tmp, v_wptr);
        
        // Velocity = v + omega x r + qdot
        const double *u_tmp = state.getUForNode(this->NodeIndex_);
        v_wptr[0] += u_tmp[0];
        v_wptr[1] += u_tmp[1];
        v_wptr[2] += u_tmp[2];
}

///////////////////////////////////////////////////////

void XYZ::calcAKT(	const RigidBodyNode *Parent, 
                        const RigidBodyNode *Body,
                        const int& ChildID,
                        const double *betak,
                        State& state,
                        Vect6& sAkt) const{
        this->calcQDot(state);
        double *UDot = state.wgetUDotForNode(this->NodeIndex_);		
        if(Parent){
                const double *U = state.getUForNode(this->NodeIndex_);
                
                // AKT is calculated in F basis of this body
                double *akt_ptr = sAkt.wPtr();
                
                // set Akt to zero to clear existing values.
                akt_ptr[0] = 0.0;akt_ptr[1] = 0.0;akt_ptr[2] = 0.0;
                
                const double *prFCF_Ptr = Body->data_->getRotationFCF().Ptr();
                
                double s_betak[3], ang_vel[3];
                
                // Angular velocity of parent expressed in F of parent
                const double *parent_ang_ptr = Parent->data_->getAngularVelocity().Ptr();
                
                // express angular velocity and betak in F basis of this body
                FastOps::transpose_mult_mat33_vec3(prFCF_Ptr,parent_ang_ptr,ang_vel);
                FastOps::transpose_mult_mat33_vec3(prFCF_Ptr,betak,s_betak);
                
                // cross( w^{k-1}, cross(w^{k-1}, \beta^{k-1}) ) {expressed in F of this body}		
                FastOps::wxwxr(ang_vel, s_betak, akt_ptr+3);				
                
                double wxvkk[3];
                // 2*cross(w^k, v^{k+1}_{k+1}u^k+1)
                FastOps::cross(ang_vel,U,wxvkk);
                akt_ptr[3] += 2*wxvkk[0];
                akt_ptr[4] += 2*wxvkk[1];
                akt_ptr[5] += 2*wxvkk[2];
                
                // In this case, Akt = Akt + p^k_k \dot{u}^k
                if(this->isMotionPrescribedAndActive_){
                        // Update UDot_ cache from prescribed motion
                        this->PM_->setUDot(state.getSysData(),UDot);
                        akt_ptr[3] += UDot[0];
                        akt_ptr[4] += UDot[1];
                        akt_ptr[5] += UDot[2];
                }
        } // if(Parent)
        else{
                if(this->isMotionPrescribedAndActive_){
                        this->PM_->setUDot(state.getSysData(),UDot);
                }
        }
}

///////////////////////////////////////////////////////

void XYZ::sweepBackwards(	const bool& isLeaf, 
                                const int& ChildID,
                                const Vect6& sAkt,
                                const Rotation& FCF,					    
                                const EOMData *eom,
                                const double *betak,
                                RigidBodyNode *Parent,
                                ABAData *aba) const{
                                
        // In the following implementation, I have stepped through intermediate frames
        // hence three calls to calc_Triang functions instead of just one. 
        // This was indeed avoidable but would require the inversion of a dofxdof (3x3 in this case)
        // matrix. I am uncertain as to which method would result in a lower operation count. 
        // Need to work this out at somepoint.
        
        // get writable pointers for articulated body inertia of this body.
        // Ik3[0] is the ABI of this body and the eqns of motion for this body
        // can be written as Ik3[0] * A - Fk3[0] = 0. Here the ABI of intermediate frames 
        // are calculated and stored in Ik3+1 and Ik3+2
        Mat6x6 *Ik3 = aba->wgetIk3();
        Vect6 *Fk3 = aba->wgetFk3();	
        
        if(!isMotionPrescribedAndActive_){
                
                this->calc_Triang_x_Ik3_TransZ(Ik3->Ptr(),(Ik3+1)->wPtr());
                this->calc_Triang_x_cFk_TransZ(Ik3->Ptr(), Fk3->Ptr(), (Fk3+1)->wPtr());		

                this->calc_Triang_x_Ik3_TransY((Ik3+1)->Ptr(), (Ik3+2)->wPtr());	
                this->calc_Triang_x_cFk_TransY((Ik3+1)->Ptr(), (Fk3+1)->Ptr(), (Fk3+2)->wPtr());

                if(Parent){
                        this->calc_cFk((Fk3+2)->Ptr(),(Ik3+2)->Ptr(),sAkt.Ptr(),aba->wgetcFk()->wPtr());			
                        double triang_ik3[36],triang_fk3[6];
                        this->calc_Triang_x_Ik3_TransX((Ik3+2)->Ptr(),triang_ik3);
                        this->calc_Triang_x_cFk_TransX((Ik3+2)->Ptr(),aba->getcFk()->Ptr(),triang_fk3);
                        
                        double sIk3[36], sFk3[6];
                        FastOps::spatial_basis_shift_mat(FCF.Ptr(), triang_ik3, sIk3);
                        FastOps::spatial_basis_shift_vec(FCF.Ptr(), triang_fk3, sFk3);
                        

                        double Ik3Child[36], Fk3Child[6];
                        this->calc_skbeta_x_Ik3_x_tskbeta(sIk3, betak, Ik3Child);
                        this->calc_skbeta_x_cFk(sFk3, betak, Fk3Child);

                        Parent->data_->wgetABAData()->wgetIk3()[0].add(Ik3Child);
                        Parent->data_->wgetABAData()->wgetFk3()[0].add(Fk3Child);
                        
                }// If (Parent)
        } // if (!isMotionPrescribedAndActive)
        else{
                if(Parent){
                        // cFk = Fk3 - Ik3*A^{k-1}_t
                        this->calc_cFk(Fk3->Ptr(),Ik3->Ptr(),sAkt.Ptr(),aba->wgetcFk()->wPtr());
                        
                        double sIk3[36], sFk3[6];
                        FastOps::spatial_basis_shift_mat(FCF.Ptr(), Ik3->Ptr(), sIk3);
                        FastOps::spatial_basis_shift_vec(FCF.Ptr(), aba->getcFk()->Ptr(), sFk3);
                        
                        double Ik3Child[36], Fk3Child[6];
                        this->calc_skbeta_x_Ik3_x_tskbeta(sIk3, betak, Ik3Child);
                        this->calc_skbeta_x_cFk(sFk3, betak, Fk3Child);
                        
                        Parent->data_->wgetABAData()->wgetIk3()[0].add(Ik3Child);
                        Parent->data_->wgetABAData()->wgetFk3()[0].add(Fk3Child);
                }
        }
}

///////////////////////////////////////////////////////

void XYZ::sweepForward( const RigidBodyNode *Parent,
                        const int& ChildID,
                        const Vect6& sAkt,
                        const Rotation& FCF,
                        const ABAData *aba,
                        const double *betak,
                        EOMData *eom,
                        State& state
                        ){				
        double *UDot = state.wgetUDotForNode(this->NodeIndex_);	
        
        const Vect6 *Fk3 = aba->getFk3();
        const Mat6x6 *Ik3 = aba->getIk3();
        Vect6 *Ak1 = eom->wgetAk1();
        double *ak1_ptr = Ak1->wPtr();	

        if(Parent){
                const double *Parent_Ak1_Ptr = Parent->data_->getEOMData()->getAk1()->Ptr();
                if(!isMotionPrescribedAndActive_){
                        {
                                double ak1_tmp[6];
                                FastOps::transpose_skbeta_x_V(Parent_Ak1_Ptr, betak, ak1_tmp);
                                FastOps::transpose_spatial_basis_shift_vec(FCF.Ptr(),ak1_tmp, ak1_ptr);
                                this->calc_UDot_TransX((Ik3+2)->Ptr(),ak1_ptr, aba->getcFk()->Ptr(), UDot);
                        }			
                        ak1_ptr[3] += UDot[0];
                        Ak1->add(sAkt.Ptr());			
                        
                        this->calc_UDot_TransY((Ik3+1)->Ptr(),ak1_ptr,(Fk3+1)->Ptr(),UDot+1);
                        ak1_ptr[4] += UDot[1];

                        this->calc_UDot_TransZ(Ik3->Ptr(),ak1_ptr,Fk3->Ptr(),UDot+2);
                        ak1_ptr[5] += UDot[2];
                }//if(!isMotionPrescribedAndActive_)
                else{
                        double Ak1p1[6];
                        // Ak1p1 (0:5)= transpose(skbeta)*A^{parent}_1 
                        // In this case, sAkt already includes p^k_k \dot{u}^k
                        FastOps::transpose_skbeta_x_V(Parent_Ak1_Ptr, betak,Ak1p1);
                        
                        // Ak1 = Ak1p1 (0:5) exprssed in F of this body
                        FastOps::transpose_spatial_basis_shift_vec(FCF.Ptr(),Ak1p1,eom->wgetAk1()->wPtr());
                        eom->wgetAk1()->add(sAkt.Ptr());
                }
        }//if(Parent)
        else{
                if(!isMotionPrescribedAndActive_){			
                        const double *fk3_ptr = Fk3[2].Ptr();
                        UDot[0] = fk3_ptr[3]/Ik3[2].Ptr()[21];

                        double ak1_tmp[]={0.0,0.0,0.0,UDot[0],0.0,0.0};
                        Ak1->copy(ak1_tmp);
                        
                        this->calc_UDot_TransY((Ik3+1)->Ptr(),ak1_ptr,(Fk3+1)->Ptr(),UDot+1);
                        ak1_ptr[4] = UDot[1];
                                                
                        this->calc_UDot_TransZ(Ik3->Ptr(),ak1_ptr,Fk3->Ptr(),UDot+2);			
                        ak1_ptr[5] = UDot[2];			
                }
                else{
                        // Calculate Ak1_ in F frame of this body
                        double *ak1_ptr = eom->wgetAk1()->wPtr();			
                        ak1_ptr[1]=0.0; ak1_ptr[2]=0.0; ak1_ptr[3]=0.0;
                        ak1_ptr[3]=UDot[0]; ak1_ptr[4]=UDot[1]; ak1_ptr[5]=UDot[2];
                }		
        }
        
        this->calc_m_cFk(aba->getFk3()[0].Ptr(), aba->getIk3()[0].Ptr(), Ak1->Ptr(), eom->wgetFkc1()->wPtr());	
}

///////////////////////////////////////////////////////